| bibtype |
J -
Journal Article
|
| ARLID |
0373459 |
| utime |
20240111140812.6 |
| mtime |
20120208235959.9 |
| title
(primary) (eng) |
Adaptive Nonlinear Tracking for Robotic Walking |
| specification |
|
| serial |
| ARLID |
cav_un_epca*0373458 |
| ISSN |
2223-7038 |
| title
|
Cybernetics and Physics |
| volume_id |
1 |
| volume |
1 (2012) |
| page_num |
28-35 |
| publisher |
| name |
Rossiiskaya Akademiya Nauk |
|
|
| keyword |
Adaptive control |
| keyword |
Kalman filter |
| keyword |
walking robots |
| author
(primary) |
| ARLID |
cav_un_auth*0279330 |
| name1 |
Dolinský |
| name2 |
Kamil |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
This article deals with online adaptation of control strategy for nonlinear tracking of a walking like motion of bipedal robot. Adaptation of the control rule is done according to results of online parameter estimation. Parameter estimation was realized by an extended Kalman filter due to recursive nature of the estimation problem and abundant a priori information. Proposed estimation strategy yields at least three advantages. By utilization of extensive knowledge about the system in consideration a multi-variable estimation problem was reduced to estimation problem involving one parameter only. A heavy computation burden required for recomputation of reference trajectory and feed-forward controller is removed. This approach can also be used to eliminate the modeling mismatch. A practical situation when a robot has to carry a load of an unknown weight is demonstrated. |
| reportyear |
2012 |
| RIV |
BC |
| num_of_auth |
2 |
| permalink |
http://hdl.handle.net/11104/0206554 |
| arlyear |
2012 |
| mrcbU56 |
textový dokument 545 kB |
| mrcbU63 |
cav_un_epca*0373458 Cybernetics and Physics 2223-7038 Roč. 1 č. 1 2012 28 35 Rossiiskaya Akademiya Nauk |
|